Recent Submissions

  • Commanding the object orientation using dexterous manipulation 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Springer, 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper presents an approach to change the orientation of a grasped object using dexterous manipulation teleoperated in a very simple way with the commands introduced by an operator using a keyboard. The novelty of the ...
  • Unknown object manipulation based on tactile information 

    Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This work proposes an approach to manipulate unknown objects based on tactile information. The manipulation can have three goals: the optimization of the hand configuration, the optimization of the grasp quality and the ...
  • Comparison of motion planners in an environment with removable obstacles 

    Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired ...
  • HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning 

    García Hidalgo, Néstor; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    The paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, ...
  • Motion planning using first-order synergies 

    García Hidalgo, Néstor; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper proposes a novel motion planning approach that exploits the concept of synergies (correlations) between degrees of freedom, extending it to the velocity space and calling them first-order synergies. An automatic ...
  • Síntesis de prensiones con “force-closure” para un objeto articulado 3D con 3 eslabones 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (2015)
    Conference lecture
    Open Access
    Este trabajo aborda el problema de la síntesis de prensiones con “force-closure” para un objeto articulado 3D constituido por 3 eslabones y considerando contactos sin fricción. La superficie de cada eslabón se representa ...
  • Using synergies in dual-arm manipulation tasks 

    Suárez Feijóo, Raúl; Rosell Gratacòs, Jan; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    The paper deals with the problem of planning movements of dual-arm anthropomorphic systems, with the aim of reducing the computational cost of the problem and making the movements look as human-like as possible. The key ...
  • Determining independent contacts regions to immobilize 2D articulated objects 

    Alvarado, Noe; Suárez Feijóo, Raúl; Roa, Máximo (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a forceclosure (FC) immobilization, independently of the ...
  • Task and motion planning using physics-based reasoning 

    Akbari, Aliakbar; Ud Din, Muhayy; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Restricted access - publisher's policy
    For everyday manipulation tasks, the combination of task and motion planning is required regarding the need of providing the set of possible subtasks which have to be done and how to perform them. Since many alternative ...
  • Ontological physics-based motion planning for manipulation 

    Ud Din, Muhayy; Akbari, Aliakbar; Rosell Gratacòs, Jan (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Restricted access - publisher's policy
    Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which ...

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